The increased demand for large size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, forging manipulators should possess robot features, such as force perception, delicacy, and flexibility. The aim of this work is to develop a practical compliance control method for hydraulic forging manipulators. A hybrid force–position control method is proposed and performed on a novel serial–parallel forging manipulator designed by the author’s institute. A specific study is carried on a hybrid pressure–position control system. The simulated and experimental results show the control method is feasible. The experiment on hybrid control is executed on a programmable logic controller considering industrial applications.
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